JP2009535652A - ヨーレイト測定の校正方法 - Google Patents

ヨーレイト測定の校正方法 Download PDF

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Publication number
JP2009535652A
JP2009535652A JP2009510269A JP2009510269A JP2009535652A JP 2009535652 A JP2009535652 A JP 2009535652A JP 2009510269 A JP2009510269 A JP 2009510269A JP 2009510269 A JP2009510269 A JP 2009510269A JP 2009535652 A JP2009535652 A JP 2009535652A
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JP
Japan
Prior art keywords
yaw rate
calibration
value
vehicle
camera device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
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JP2009510269A
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English (en)
Japanese (ja)
Inventor
ミヒアエル ヴアルテル，
マテイアス ツオーベル，
ヨハネス ホエール，
Original Assignee
アーデーツエー・オートモテイブ・デイスタンス・コントロール・システムズ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング
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Application filed by アーデーツエー・オートモテイブ・デイスタンス・コントロール・システムズ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング filed Critical アーデーツエー・オートモテイブ・デイスタンス・コントロール・システムズ・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング
Publication of JP2009535652A publication Critical patent/JP2009535652A/ja
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/06—Sensor zero-point adjustment; Offset compensation
    • B60T2250/062—Sensor zero-point adjustment; Offset compensation loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Gyroscopes (AREA)
  • Regulating Braking Force (AREA)
  • Navigation (AREA)
JP2009510269A 2006-04-25 2007-04-19 ヨーレイト測定の校正方法 Pending JP2009535652A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006018974A DE102006018974A1 (de) 2006-04-25 2006-04-25 Verfahren zur Kalibrierung einer Gierratenmessung
PCT/DE2007/000693 WO2007121720A1 (de) 2006-04-25 2007-04-19 Verfahren zur kalibrierung einer gierratenmessung

Publications (1)

Publication Number Publication Date
JP2009535652A true JP2009535652A (ja) 2009-10-01

Family

ID=38265739

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2009510269A Pending JP2009535652A (ja) 2006-04-25 2007-04-19 ヨーレイト測定の校正方法

Country Status (5)

Country Link
US (1) US7684945B2 (de)
EP (1) EP2010419B1 (de)
JP (1) JP2009535652A (de)
DE (2) DE102006018974A1 (de)
WO (1) WO2007121720A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008032632A (ja) * 2006-07-31 2008-02-14 Denso Corp 角速度センサのキャリブレーション装置および角速度値特定装置
KR20130136079A (ko) * 2012-06-04 2013-12-12 현대모비스 주식회사 요레이트 산출 방법 및 장치와 이를 이용한 차선유지보조시스템 제어 방법

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GB2447987B (en) * 2007-03-30 2011-11-02 P G Drives Technology Ltd Method and apparatus for determining a value of a zero point offset of a yaw rate sensor
TWI334517B (en) * 2007-08-30 2010-12-11 Ind Tech Res Inst Method for predicting lane line and lane departure warning system using the same
US8195357B2 (en) * 2008-04-16 2012-06-05 GM Global Technology Operations LLC In-vehicle sensor-based calibration algorithm for yaw rate sensor calibration
DE102008045618B4 (de) 2008-09-03 2010-07-08 Daimler Ag Verfahren und Vorrichtung zur Kalibrierung von Sensoren eines Fahrzeuges
EP2243686B1 (de) * 2009-04-23 2014-03-05 Honda Motor Co., Ltd. Elektrische Servolenkung
JP2010260430A (ja) * 2009-05-01 2010-11-18 Honda Motor Co Ltd センサの基準点補正方法
WO2012001896A1 (ja) * 2010-06-29 2012-01-05 本田技研工業株式会社 車両の進行路推定装置
US9664528B2 (en) * 2012-03-27 2017-05-30 Autoliv Asp, Inc. Inertial sensor enhancement
DE102012108862A1 (de) 2012-09-20 2014-05-28 Continental Teves Ag & Co. Ohg Verfahren zur Kalibrierung mehrerer Umfeldsensoren in einem Fahrzeug
US11036238B2 (en) * 2015-10-15 2021-06-15 Harman International Industries, Incorporated Positioning system based on geofencing framework
DE102013212108A1 (de) * 2013-06-25 2015-01-22 Robert Bosch Gmbh Verfahren und Inertialsensoreinheit zum Selbstabgleich eines Drehratensensors
WO2017044698A1 (en) * 2015-09-13 2017-03-16 Gm Global Technology Operations, Llc Determining torque modification via integrating vehicle dynamics influencing subsystems
US9803576B2 (en) 2016-02-16 2017-10-31 Robert Bosch Gmbh System and method to predict calibration values based on existing calibrations
WO2018123217A1 (ja) * 2016-12-28 2018-07-05 本田技研工業株式会社 外界認識システム
JP6757273B2 (ja) 2017-02-16 2020-09-16 日立オートモティブシステムズ株式会社 車載制御装置
DE102018204451A1 (de) 2018-03-22 2019-09-26 Conti Temic Microelectronic Gmbh Verfahren und Vorrichtung zur Autokalibrierung eines Fahrzeugkamerasystems
CN108639065B (zh) * 2018-05-15 2019-09-27 辽宁工业大学 一种基于视觉的车辆安全行驶控制方法
US11691671B2 (en) * 2019-12-18 2023-07-04 Hyundai Mobis Co., Ltd. System for road slope compensation using camera information and method thereof
DE102020207518B4 (de) 2020-06-17 2022-06-09 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Bestimmung eines Korrekturwinkels für die Geradeauslaufkorrektur eines Fahrzeugs
KR20220038213A (ko) * 2020-09-18 2022-03-28 현대자동차주식회사 차량 및 그 제어 방법

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JPH0789443A (ja) * 1993-07-22 1995-04-04 Nissan Motor Co Ltd 車両用自動操縦装置
JPH1194874A (ja) * 1997-09-19 1999-04-09 Honda Motor Co Ltd ヨーレートセンサの較正方法
JPH11237404A (ja) * 1998-02-20 1999-08-31 Toyota Motor Corp ヨーレートセンサの故障判定装置
JP2000028632A (ja) * 1998-07-10 2000-01-28 Honda Motor Co Ltd ヨーレートセンサの補正装置
JP2002202319A (ja) * 2001-01-04 2002-07-19 Omron Corp 車両用検知装置
JP2006199242A (ja) * 2005-01-24 2006-08-03 Toyota Motor Corp 車両の挙動制御装置

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US4470124A (en) * 1981-06-01 1984-09-04 Honda Giken Kogyo Kabushiki Kaisha Method of adjusting the zero-point of rate type sensor
GB8909074D0 (en) * 1989-04-21 1989-06-07 Lotus Group Plc Vehicle control system
JPH05278626A (ja) 1992-03-31 1993-10-26 Mazda Motor Corp 車両の後輪操舵装置
DE19502858C1 (de) * 1995-01-30 1996-07-11 Siemens Ag Verfahren und Schaltungsanordnung zum Kompensieren der Signalfehler eines Giergeschwindigkeitssensors
DE19525217A1 (de) * 1995-07-11 1997-01-16 Teves Gmbh Alfred Erfassung und Auswertung von sicherheitskritischen Meßgrößen
US5857160A (en) * 1996-05-23 1999-01-05 General Motors Corporation Sensor-responsive control method and apparatus
US6317674B1 (en) 1996-06-20 2001-11-13 Itt Manufacturing Enterprises, Inc. Acquisition and evaluation of measured variables which are critical for safety
JP3198993B2 (ja) * 1997-07-23 2001-08-13 トヨタ自動車株式会社 車輌の挙動制御装置
JP3572879B2 (ja) * 1997-07-23 2004-10-06 トヨタ自動車株式会社 車載のジャイロ式ヨーレートセンサのドリフト量演算方法
US6130706A (en) * 1998-03-25 2000-10-10 Lucent Technologies Inc. Process for determining vehicle dynamics
DE19910868A1 (de) 1999-03-11 2000-09-21 Varity Gmbh Fahrzeugstabilitätsregelsystem
EP1258708B1 (de) * 2001-05-16 2010-03-17 Robert Bosch Gmbh Verfahren und Vorrichtung für die Bestimmung von Offsetwerten durch ein Histogrammverfahren
DE10128056C1 (de) * 2001-06-09 2002-11-28 Hella Kg Hueck & Co Verfahren zum Abgleichen einer Anordnung zum Messen der Gierrate eines Kraftfahrzeuges sowie eine solche Anordnung
DE10246067B4 (de) * 2002-10-02 2008-01-03 Robert Bosch Gmbh Verfahren und Vorrichtung zur Kalibrierung eines Bildsensorsystems in einem Kraftfahrzeug
DE10327695A1 (de) 2003-06-20 2005-01-05 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung des Schwimmwinkels mittels Fahrzeugspurerkennung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0789443A (ja) * 1993-07-22 1995-04-04 Nissan Motor Co Ltd 車両用自動操縦装置
JPH1194874A (ja) * 1997-09-19 1999-04-09 Honda Motor Co Ltd ヨーレートセンサの較正方法
JPH11237404A (ja) * 1998-02-20 1999-08-31 Toyota Motor Corp ヨーレートセンサの故障判定装置
JP2000028632A (ja) * 1998-07-10 2000-01-28 Honda Motor Co Ltd ヨーレートセンサの補正装置
JP2002202319A (ja) * 2001-01-04 2002-07-19 Omron Corp 車両用検知装置
JP2006199242A (ja) * 2005-01-24 2006-08-03 Toyota Motor Corp 車両の挙動制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008032632A (ja) * 2006-07-31 2008-02-14 Denso Corp 角速度センサのキャリブレーション装置および角速度値特定装置
KR20130136079A (ko) * 2012-06-04 2013-12-12 현대모비스 주식회사 요레이트 산출 방법 및 장치와 이를 이용한 차선유지보조시스템 제어 방법
KR101927111B1 (ko) * 2012-06-04 2019-03-12 현대모비스 주식회사 요레이트 산출 방법 및 장치와 이를 이용한 차선유지보조시스템 제어 방법

Also Published As

Publication number Publication date
US7684945B2 (en) 2010-03-23
DE112007000599A5 (de) 2008-12-11
EP2010419A1 (de) 2009-01-07
WO2007121720A1 (de) 2007-11-01
EP2010419B1 (de) 2016-10-05
US20090089002A1 (en) 2009-04-02
DE102006018974A1 (de) 2007-10-31

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